Operator supported remote camera positioning and control system with improved front end assemblies

ABSTRACT

A remote camera positioning and control system is disclosed that permits a sole operator to use and support a camera out of arm&#39;s reach. Various features of such a remote camera positioning and control system are disclosed. The positioner can include one or more beam modules having cross-sectional flexural rigidity that varies along the length of the beam module(s) by use, for example, of stiffening longerons, anchoring braces and relatively low density stabilizing webs. The camera can be mounted to the beam module by a front end assembly that is constructed to place the center of mass of the camera and the front end assembly along the neutral axis of the beam module over as great a range of motion as possible.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of prior application Ser. No.10/387,192 filed Mar. 11, 2003.

FIELD OF THE INVENTION

The invention relates to camera supports. More particularly, theinvention relates to supports for remotely positioning cameras.

BACKGROUND OF THE INVENTION

In cinema graphic and other visual art endeavors, it is often desired toincrease the range of viewing perspectives, to obtain various specialeffects and capture scenes from angles and elevations that are notavailable from a camera on a tripod or held by a camera man. This isparticularly true in the recording of sporting events. Various systemshave been developed to address these goals, including elevating andpivoting boom arms, as shown, for example, in U.S. Pat. No. 4,849,778,and steady cam mounts for aircraft, as shown, for example, in U.S. Pat.No. 4,156,512.

While these approaches do increase the range of viewing angles andelevations, they often involve complicated componentry that is typicallydifficult to operate by a cameraman alone and is almost certainly toolarge to be held and maneuvered by a cameraman alone. The size andweight of the equipment often limits access to desired viewing andrecording areas.

It would therefore be advantageous to provide a remote camerapositioning system that is capable of being supported, operated andmaneuvered by a sole cameraman.

SUMMARY OF THE INVENTION

The subject matter of the invention presents various features that canbe combined in different combinations and with varying degrees ofdetails to provide improvements to a remote camera positioning andcontrol system. The various combinations of features preferably providea remote camera positioner that can used and supported by a soleoperator with no external structural or personnel support. With certaincombinations of features, a remote camera positioner can be arrangedthat is controlled and physically supported only through the operator'shands, with auxiliary systems, such as power supplies, video monitoringand video recorder being mounted on the user.

It is desirable for a remote camera positioning system having featuresaccording to aspects of the invention to be sufficiently light-weight tobe borne and readily maneuvered by a sole operator, but have sufficientflexural rigidity to resist the various deflections that can be inducedby loads created with the camera movements and by external forces.Various combinations of features according to principles of theinvention can provide a balance between such light-weightness andflexural rigidity to enable sole operator use and control in aself-contained manner.

One embodiment having a combination of features according to aspects ofthe invention is a remote camera positioning system for use and supportby a sole operator, having a camera positioner with a distal cameramount for supporting a camera, a camera positioner having a proximaloperator interface to enable an operator to support a camera positionerand spatially maneuver the camera through the camera positioner, whereinthe positioner includes at least one elongated beam module. The beammodule of this embodiment is positioned distally of the operatorinterface and proximally of the camera mount and has a plurality ofdiscrete longerons radially displaced from the neutral axis of the beammodule and extending substantially parallel to the neutral axis. In thisembodiment, the cross-sectional flexural rigidity of the beam moduledecreases distally toward the camera from a first cross-sectionalflexural rigidity to a second cross-sectional flexural rigidity.

In another embodiment, the cross-sectional flexural rigidity of the beammodule increases distally to a third cross-sectional flexural rigiditythat is greater than said second cross-sectional flexural rigidity andthen decreases distally to a fourth cross-sectional flexural rigidity.In another variation of combined features, the first cross-sectionalflexural rigidity and the third cross-sectional flexural rigidity can besubstantially the same and the second cross-sectional flexural rigidityand the fourth cross-sectional flexural rigidity can be substantiallyequal. Still another possibility is that the first cross-sectionalflexural rigidity is greater than the third cross-sectional flexuralrigidity, and optionally, at the same time, the second cross-sectionalflexural rigidity can be greater than the fourth cross-sectionalflexural rigidity.

In another embodiment having features according to aspects of theinvention, the beam module can include, instead of just one beam module,multiple beam modules, for example, a proximal beam module and aseparate distal beam module. In such an arrangement, the firstcross-sectional flexural rigidity and the second cross-sectionalflexural rigidity could occur along the length of the proximal beammodule and the third cross-sectional flexural rigidity and the fourthcross-sectional flexural rigidity could occur along the length of thedistal beam module.

Another feature according to aspects of the invention is that at leastone of the multiple beam modules can have an anchor brace region and astabilizing web region. The anchor brace region can include at least oneanchor brace extending substantially longitudinally and transverselyjoining adjacent ones of the plurality of longerons, and the stabilizingweb region can include at least one stabilizing web extendingsubstantially longitudinally and transversely joining adjacent ones ofthe plurality of longerons. In such a possible construction, the firstcross-sectional flexural rigidity can occur across the anchor brace of aproximal beam module; the second cross-sectional flexural rigidity canoccur across the stabilizing web of the proximal beam module; the thirdcross-sectional flexural rigidity can occur on the anchor brace of thedistal beam module and the fourth cross-sectional flexural rigidity canoccur on the stabilizing web of the distal beam module.

The flexural rigidity in the anchor braces can decrease by reducing thethickness of the anchor braces located at more distal locations towardthe camera. Similarly, the thickness and density of the stabilizing webmaterial can be reduced to decrease the cross-sectional flexuralrigidity at more distal locations towards the camera. Anotherpossibility, either alone or in combination with these two techniques,is to reduce the diameter or other cross-sectional detail of thelongerons.

In another embodiment having features according to aspects of theinvention, the longerons can extend substantially the entire length ofthe beam module. Alternatively, the longerons can be removably connectedbetween adjacent beam modules. The longerons and the associated beammodules can even be removably connected by hand adjustable connectors toavoid the need for tools and to provide the ability to fine tune theparallel arrangement of the longerons along the length of thepositioner.

In another embodiment having features according to aspects of theinvention, each anchor brace region includes at least three anchorbraces joined to provide a polygonal cross section to the respectiveanchor brace region. Another possible feature is that each stabilizingweb region includes at least three panels of low density material joinedto provide a polygonal cross section to the respective low densitystabilizing web region. The polygonal cross section could be triangular.

Another possibility is that each anchor brace and each stabilizing webis disposed away from the neutral longitudinal axis of the beam module.

The anchor brace can be constructed in a variety of ways so long as itcontributes to the cross-sectional flexural rigidity of the beam moduleat the given location and assists in maintaining the longerons in thespaced and parallel arrangements. One possible anchor brace constructioncan include specially shaped laminated wood webs extending between andconnecting adjacent longerons. Similarly, the stabilizing webs can beprovided by low density panels, made for example of expandedpolypropylene (EPP), although other web materials capable of assistingin maintaining longeron spacing and parallel alignment can be used. Insome embodiments having features according to aspects of the invention,the stabilizing web of low density material is constructed as aplurality of panels, with each of the panels having a greater thicknessand lower density than the adjacent anchor braces.

The longerons can each be constructed as a pull-truded carbon fibercomposite tube. Other constructions for arranging stiffening materialsuch as carbon fiber in parallel axial streams or channels and displacedfrom the neutral axis are also possible according to aspects of theinvention.

Other embodiments having one or more features according to aspects ofthe invention can include a camera mount in the form of a front endmodule for moveably mounting the camera to the distal beam module. Thefront end module can include a pan/tilt assembly and a pan/tilt supportassembly. The pan/tilt support assembly can connect to the distal beammodule and supports the pan/tilt assembly. The pan/tilt assemblysupports the camera and permits the optical axis of the camera to panand tilt relative to the longitudinal axis of the distal beam module.

In one preferred arrangement, the pan/tilt support assembly includes apan drive platform connected to and extending substantiallylongitudinally from a distal-most end of a beam module to a pan bearinghead. The pan/tilt assembly can then rotatably depend from the panbearing head, transverse to the longitudinal axis of the positioner. Oneor more support legs can also be provided to connect to and extend fromthe beam module and connect to the pan drive platform substantiallyadjacent to the pan bearing head.

In the case of a triangular beam module, the pan/tilt support assemblycan transition from a three-point junction with the beam module to aunified junction with the pan bearing head. The pan bearing head canoptionally and preferably include support flanges for connecting the panbearing head to the pan drive platform. Another variation in theembodiment can provide lateral support struts depending from andextending along the length direction of the pan drive platform. Such apan/tilt support assembly could include angle brackets and anchor platesfor connecting the pan drive platform and the support legs to respectivelongerons of the beam module. Lateral stiffeners in the form of crossbars or wires can also be extended between two or more of the pan driveplatform and the support legs.

An embodiment having one or more features according to aspects of theinvention could include a pan drive assembly including a pan drive motormounted on the pan drive platform, a pan drive sprocket rotated by thepan drive motor, a pan drive chain driven by the pan drive sprocket, apan axle gear disk driven by the pan drive chain, a pan axle rotatablymounted on the pan bearing head and rotated by the pan axle gear disc;and a pan-tilt hanger plate attached to the pan axle for mounting thepan/tilt assembly. Additionally, a pan drive mounting and tensioningplate, moveably mounted on the pan drive platform to adjust the tensionin the pan drive chain, could be provided.

Another embodiment having features according to aspects of the inventioncan include a pan/tilt assembly having a pan carriage rotatably attachedto the pan bearing head; a tilt carriage supported by the pan carriage;and a tilt drive assembly including a tilt drive motor on the tiltcarriage; a tilt drive sprocket; a tilt drive chain and a tilt drivegear disc, all interconnected to rotate the tilt carriage and the motorassembly therewith. The embodiment could also have a tilt drive motormounting plate for supporting the tilt drive motor and tilt drivesprocket, with the tilt drive motor mounting plate being adjustablyconnected to the tilt carriage for adjusting the tension of the tiltdrive chain.

Another embodiment having features according to aspects of the inventioncan include a pan carriage shaped as a channel with a base and twotransversely extending flanges. The base can be connected to the panbearing head and the tilt carriage can be rotatably mounted between thetwo flanges. The tilt can also be shaped as a channel with a base andtwo transversely extending flanges, with the camera being mounted to thebase and the two flanges being rotatably mounted to the flanges of thepan carriage. The carriages can be constructed of laminated wood withthe tilt carriage optionally being thinner than the pan carriage.

Another embodiment having features according to aspects of the inventioncan include a user interface that provides a handle module. The handlemodule can include a handle shaft extending proximally from the beammodule and a handle grip moveably mounted in the handle shaft. Thehandle grip can be slidingly or rotatably mounted on the handle shaft,or both. The handle module could further include a grip ring mountedadjacent a proximal terminus of the handle shaft for rotating thepositioner.

The handle module could also include a manual control for at least oneof camera tilt and camera pan enclosed within a control cage at itsproximal end. The control cage can provide a hollow interior, with thecamera control being placed in the hollow interior of the control cagebut accessible by the operator's hand while interfacing with thepositioner. This camera control could be a joystick. The control cagecan be defined by peripherally spaced ribs operatively connected to thehandle shaft, with the ribs providing gaps between them and an openproximal end.

Another embodiment having features according to aspects of the inventioncan include a beam module providing at least one base plate at theproximal end of its anchor brace region and a handle terminus plate moredistally within the anchor brace region. The handle can be secured bythe base plate and the handle terminus plate. The beam module couldinclude a base plate assembly, with the base plate assembly including aproximal plate and a distal base plate compressing a foam pad to fix thebase plates against translation along the handle shaft through frictionfit with the foam pad. In another arrangement having features accordingto aspects of the invention, one of the proximal base plate and thedistal base plate is larger than the other, the larger one providingmass reducing holes that also provide additional operator interfacesurfaces.

A handle module could further include a second manual camera control forcontrolling one of pan and tilt, and an adjustable camera control mountconnected to the base plate assembly, with the second manual cameracontrol being mounted to the camera control mount and positionallyadjustable relative to the handle shaft.

Another embodiment having features according to aspects of the inventioncan include hand adjustable connectors between the various adjustableand disassemble-able components of the positioner to permit fieldadjustments and assembly and disassembly without tools. Most, if notall, of the hand adjustable fasteners could be nylon to reduce the massof the positioner. Nylon fasteners can also provide “weak points” thatcan break away under impact with foreign objects before more expensivecomponents are damaged by the collision.

Another embodiment having features according to aspects of the inventioncan include various auxiliary systems, such as a VCR, an operatormounted monitor, preferably in the form of goggles, a camera motioncontrol unit and a camera control unit as well as a battery pack, allarranged to be stored and mounted on the user through a support garment,such as a vest. The various units can be connected to each other and tothe camera, controls and drives on the positioner through variouscabling.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a proximal perspective view of an example of an entireremote camera positioning and control system with an adjacent supportvest, presenting features according to aspects of the invention.

FIG. 2A is an example of a beam module, presenting features according toaspects of the invention.

FIG. 2B is an exploded view of a beam module, presenting featuresaccording to aspects of the invention.

FIG. 3 is a cross sectional view of the example beam module taken at 3—3in FIG. 1.

FIG. 4A is an example of a connection system for the exemplary longeronsillustrated in FIG. 2 in a disconnected configuration;

FIG. 4B is an example of a connection system for the exemplary longeronsillustrated in FIG. 2 in a connected configuration;

FIG. 5 is a distal perspective view of an example of a front endassembly, illustrating features according to aspects of the invention;

FIG. 6 is an exploded perspective view of an example of a pan/tiltassembly incorporating features according to aspects of the invention;

FIG. 7A is a proximal perspective view of an example of a handleassembly for use in a remote camera positioning and control systemhaving features according to principles of the invention;

FIG. 7B is a distal perspective view of a handle assembly for use in aremote camera positioning and control system having features accordingto principles of the invention;

FIG. 8 is a schematic illustration of cabling and associated controlsub-systems that can be used to provide features according to aspects ofthe invention; and

FIG. 9 is a perspective illustration of a forward control assembly thatcan be used to provide features according to aspects of the invention.

DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS AND PREFERENCES

The subject matter according to aspects of the invention is directed tocamera supports. Camera supports according to aspects of the inventioncan be held, maneuvered and controlled by a single operator. Such camerasupports can be hand-held, or can be partially supported by theoperator's body while being hand-held. The camera supports in variousconfigurations, disclosed herein as examples, can provide remoteplacement of the camera from the operator at substantial distances,permitting optical axis placement and pointing from significant heightsand wide lateral positions. Additionally, the remote positioningprovided by the camera supports and provides a large range of motion,unhindered by equipment, such as a tripod or dolly, that can be eitherstationary or limited in their mobility. Instead, camera supportsaccording to principles of the invention enjoy the same degree ofmobility and maneuverability as the operator who supports and controlsthem. Superimposing within the camera support structure itself, motioncontrol of the camera, such as pan and tilt, on the range and degree ofmotion provided by the camera support can provide an expanded degree ofcamera placements and field of view, with resulting enhanced imagedynamics.

Prior to describing embodiments having features according to aspects ofthe invention, some notes on the language used herein are in order.Throughout this specification, reference is made to embodiments andvarious structure and operations as “exemplary,” which is intended tosimply characterize the subject matter as an example or as illustrative,but not necessarily the best of its kind. The following disclosure withreference to the figures of drawing is intended solely for illustrativepurposes and not as limiting the scope of the subject matter of theinvention to the disclosed examples. Referring generally to the figuresof drawing and in particular to FIG. 1, an exemplary embodiment ofportions of a remote camera positioning and control system havingfeatures according to aspects of the invention is shown. In general, thesystem 10 includes a positioner 12 having a handle module 14, a beammodule 16, and a front end module 18, for supporting a remotely placedcamera. Auxiliary systems can also be provided and worn by the operator,using, for example, a vest 20. Auxiliary sub-systems 22 can beinterconnected to each other and to associated components on thepositioner using cabling 24. Further details of system parts arediscussed more fully below.

Referring to FIG. 1, an embodiment having features according to aspectsof the invention is shown. The exemplary camera positioning and controlsystem 10 includes generally a series of interconnected sections ormodules 14, 16, 18 that together form a boom 12 for suspending a cameralens and detector 26 at the remote distal end for positioning andcontrol by the handle module 14 at a proximal end. Between the camera 26and the handle module 14, the boom 12 is constructed of one or more beammodules 16 which can include a proximal beam module 28 and a distal beammodule 30. Although two beam modules 16 are illustrated, one beam modulecan be utilized or three or more beam modules can be utilized dependingon the desired length for the boom 12. For purposes of thisspecification, the beam module adjacent the handle module 14 isidentified as the proximal beam module 28 while the beam module adjacentto the front end assembly 18 supporting the camera 26 is referred to asthe distal beam module 30.

The beam module refers to the collective beam structure between thehandle module 14 and the front-end module 18, and can be embodied as asingle, unified beam structure or can be provided in multiple beams thatare either permanently or removably connected to each other and to theother boom sections for use. The illustrated example shows two beammodules—an exemplary proximal beam module 28 and an exemplary distalbeam module 30—proximal and distal referring to their relative positionalong the length of the positioner 12 from the proximal operator end ofthe system 10 to the distal camera end of the system 10. Additional beammodules can be added or a single beam module can be employed, but forease of illustration and discussion, a two beam module example will beused.

Suspended from the remote end of the distal beam module 30 is the frontend assembly 18, which can be made up of a pan/tilt support 32 fromwhich is suspended a pan/tilt assembly 34 to which the camera 26 ismounted.

The remote camera positioning and control system is supported by variousauxiliary systems 22 that can be mounted to the operator using a supportgarment such as the vest 20. The auxiliary systems 22 preferably includea battery pack 36, a VCR 38 or other video signal recording system, amotion control system 40 and a camera control unit 42. Monitoring of thevideo signals taken by the camera can be provided by a monitor on thevest 20. Preferably, the monitor is provided on goggles 44 that are wornby the operator so that the video image is constantly in the operator'sfield of view. The cabling 24 for connecting the various auxiliarysystems can be linked to the various components of the boom 12 throughone or more umbilical cords which are discussed more fully below. Thus,the illustrated embodiment having features according to aspects of theinvention provides a completely self-contained, operator supportedsystem for remotely positioning and controlling a camera out of theoperator's reach. The boom 12 is designed to be sufficiently lightweight to be held and maneuvered by the operator without ground supportor other assistance while providing sufficient flexural rigidity againstdeflections induced by motion of the boom 12 and external forces such aswind and light structural impact.

Other features of the embodiment according to aspects of the inventioninclude construction of the handle module 14. Preferably, the handlemodule 14 is equipped with a handle shaft 46 onto which a handle grip 48is slidably and rotatably mounted. At the proximal end of the shafthandle, a proximal or rear handle assembly 50 is provided that includesat its proximal end a handle ring 52. The handle ring 52 provides anopening into a control cage 54 formed by a series of ribs 56 thatsurround a camera control, such as a joy stick unit 58. The handle ring52 enables the operator to freely rotate the boom 12 with associatedrotation of the camera 26. For this purpose, the handle grip 48 ispreferably rotatably mounted on the handle shaft 46 so that the grip 48can be held stationary in one hand and the handle shaft 46 and theassociated, connected boom 12 can rotate relative to the stationary grip48. Likewise, if the grip 48 is preferably mounted to also slide, thehandle ring 52 can be used to translate the boom 12 axially relative tothe stationary grip 48, thus providing axial translation of the camera26.

The camera control, such as the joystick 58, can be configured tocontrol pan and tilt of the camera 26. By superimposing the boom motionsof rotation and axial translation on the pan and tilt motion of thecamera 26, complex camera motions and resulting image dynamics can beachieved. The variations in camera positioning and motion achieved bythese boom positioning and pan/tilt controls is further expanded by theability to rotate the boom 12 relative to the handle grip 48 in a full360° range of motion as well as transverse, vertical and angulartranslation of the boom 12 through the operator's arm and body movementsas well as walking, or even running.

The essentially acrobatic maneuverability of the boom 12 and theassociated camera movement and image dynamics can be achieved whileminimizing camera image instability by providing a beam structure thatis light weight yet provides relatively great cross-sectional flexuralrigidity. Each beam module 16 is equipped with areas of concentratedstiffness spaced away from the neutral axis of the beam modulecross-section. Preferably, these lines of concentrated stiffness areprovided by longerons 60 that extend the length of the beam module 16.In the illustrated embodiment, a triangular cross-section is providedwith a longeron 60 extending axially at each of the three corners of thetriangular cross-section. Other cross-sectional geometries are possibleincluding square and other polygonal shapes with longerons or otherconcentrated stiffening structure arranged along the corners of thepolygonal shape.

In each beam section, the longerons 60 are preferably reinforced in aproximal region by anchor braces 62 that are constructed to increase thecross-sectional flexural rigidity of the beam 16. Each beam module 16 isalso preferably constructed to provide a region of stabilizing webs 64that, while providing less cross-sectional flexural rigidity, serves tomaintain the spacing and parallel alignment of the longerons 60.

The beam modules 16 are preferably constructed to provide a firstrelatively high cross-sectional flexural rigidity at the proximal end ofthe proximal beam module 28 and decrease the cross-sectional flexuralrigidity distally towards the camera 34. Along the length of the beammodules 16, the cross-sectional flexural rigidity can begin relativelyhigh, for example, in the region of the anchor braces 62 of the proximalbeam module 28 and then decrease to a second relatively lowercross-sectional flexural rigidity in the region of the stabilizing webs64 of the proximal beam module 28. According to an aspect of theinvention, the cross-sectional flexural rigidity can then increase inthe region of the anchor braces 62 of the distal beam module 30 andagain decrease to a fourth relatively lower cross-sectional flexuralrigidity in the region of the stabilizing webs 64 of the distal beammodule 30. While the illustrated embodiment is constructed to providediscrete anchor brace regions and stabilizing web regions, the beammodules can be provided with a continuous beam construction thattransitions in cross-sectional flexural rigidity through variations inthe cross-sectional design of the anchor braces, for example, bydecreasing the thickness of the brace material, the material selectedand the degree of reinforcement of the brace material, such as throughdecreasing degrees of reinforcing lamination of a substrate for theanchor brace materials. The stabilizing web regions of successive beammodules may also be of successively thinner or lower density material inorder to achieve lengthwise variation of flexural rigidity and mass perunit length of the assembled positioner.

The front end assembly 18 is preferably constructed to provide thepan/tilt assembly support 32 formed to transition from the relativelystrong and stiff corner points of the beam design in the case of theillustrated embodiment. These points of strength and stiffness are thethree longeron regions of the triangular cross-section. The pan/tiltsupport assembly 32 transitions from the three points of the triangularbeam cross-section to a bearing head 66 from which the pan/tilt assembly34 and camera mount 26 can be suspended. Preferably, the camera 26 ispositioned on the pan/tilt assembly 34 so as to be positioned on theneutral axis of the boom 12 through as great a range of motion aspossible. Further details of the construction of the various modules andsections of the boom design and the associated auxiliary system arediscussed in turn below.

Referring to FIGS. 2A and 2B collectively, FIG. 2A shows the proximalbeam module 28 assembled with a portion of the handle shaft 46 anchoredto it. FIG. 2B provides an exploded view of portions of the proximalbeam module 28. Because of its junction with a handle module, theproximal beam module 28 provides a base plate assembly 68 to bedescribed in a later portion of this specification.

Each longeron 60 is located along an apex of the triangularcross-section. Each longeron 60 extends the length of the beam module28. Each longeron 60 is preferably constructed as a “pull-truded” carbonfiber composite tube having an outer diameter of approximately ⅛-inch to¼-inch, and a thick wall relative to the outer diameter. In the anchorbrace region, the three longerons 60 are joined laterally by anchorbraces 62. The anchor braces 62 can be constructed in a number ofdifferent manners provided they provide sufficient flexural rigidity forthe beam 28. In the illustrated embodiment, the anchor braces 62 areconstructed with 3-ply wood substrate 70 with primary grain extendingparallel to the longitudinal axis of the beam module 28. Each anchorbrace 62 is partially cut away to form a series of connected x-formshaving curved edges. The x-forms are laminated in the center sections onboth the exterior and interior faces with very thin, for example,0.007-inch, pre-cured carbon fiber composite sheets 72 arranged with themajor fiber axis transverse to the beam module length, using epoxy forbonding to the wood substrate 70. The anchor braces 62 are bonded in theregions adjoining the longerons 60 on the exterior face with a conformalapplied layer of plain weave carbon fiber cloth and epoxy composite 74.The primary fiber axes of the conformally applied cloth are biased 45°relative to the longitudinal axis of the beam section 28 for maximumsheer strength and stability across the bond. Between the center regionsof the forward or distal x-form is a handle tube terminal plate 76preferably made of plywood with a 3/32-inch thick 5-ply wood gusset 78ground to a frusto-conical support profile with an outer diameterapproximately ½-inch greater than the outer diameter of the handle tube34. The handle terminal plate 76 is bonded to the anchor braces 62 usinghardwood cove dollhouse molding 80 and epoxy. The triangularcross-section of the beam 28 is circumferentially bound with carbonfiber tow 82 and epoxy at the location of the handle terminal plate 76.In the stabilizing web region of the beam module 28, which typicallyextends three to four times longer than the length of the anchor braceregion, the longerons 60 are joined using webs 64 of a low-densitymaterial such as expanded polypropylene (EPP) having a greater thicknessand lower density than the anchor braces 62.

The EPP panels 64 of the illustrated embodiment are provided with abeveled edge to join in a triangular configuration and are slotted withchannels 84 to receive the tubular longerons 60. The EPP panels 64 canbe connected using epoxy. The stabilizing web region is preferablyconstructed to provide uniformity along its length.

Referring to FIG. 3, the cross section of the stabilizing web region ofthe beam module 28 includes the pull-truded, composite, thick wall,tubular longerons 60 and EPP plate stabilizing webs 64, with a hollowcenter section 86 through which a system wire harness (not shown) ispreferably routed as described in further detail later in thisspecification.

Referring to FIGS. 4A and 4B, the proximal beam module and distal beammodule are preferably removably connected by junction of each of thethree respective longerons. The longerons of the various beam modulescan be removably inter-connected using any of a number of end rodconnectors. According to one embodiment having features according toaspects of the invention, the longerons 60 can be connected using aclevis 88 and eye 70 arrangement. For example, each longeron of theproximal beam module can receive, within its hollow tube end, a knurledshaft end (not shown) of an end connector insert 92, bonded in place byepoxy (not shown), and can have a Kevlar thread lashing 94 about theexterior of the longeron end, preferably about the mid-length region ofthe bonded portion of the end connector 92. The end connector 92 can beequipped with an adjustable turnbuckle 96 having a series of adjustingnuts 98 for varying the length of the turnbuckle 96 and the associatedend connector. The end connector 92 of the proximal beam module longeroncan be formed as a flexible clevis 88 having a pin 100 between theflanges 102 of the clevis 88 that extends from one flange and removablyfits into a recess 104 in the second flange. The longeron of the distalbeam module can be similarly equipped with an end connector having anadjustable turnbuckle 98.

The end connector for the distal beam module longeron can be providedwith a mating eye connector 90 for receiving and pivotally engaging thepin 100 of the flexible clevis 88. As shown in FIG. 4B, once the pin 100of the clevis 88 is mated with the eye connector 90, the connection canbe secured by a sliding collar 106 to retain the flexible flanges 102 ofthe clevis 88 in a closed position. Because the stability of the beammodule is most dependent upon maintaining the longerons 60 in asubstantially parallel arrangement, the lengths of the longerons 60 canbe adjusted across a continuous range by the turnbuckles 96 to “finetune” the relative lengths of the longerons 60 and the parallelarrangement resulting therefrom. Although a clevis-eye arrangement ofconnection has been disclosed, other rod end connectors are possible. Itis also possible that the longerons can be continuous across the entirebeam length. However, having separable beam modules enables selectivityin the length of the boom as well as the ability to break the boom downfor storage, transport and repair. In this regard, it is preferred thatthe connectors are hand adjustable to minimize the need for tools,particularly in the field where adjustments and repairs may be necessaryduring use of the camera positioning system.

Referring to FIG. 5, an embodiment of a front end assembly for a camerapositioning system having features according to aspects of the inventionis shown. It is preferred that the front end assembly 18 include apan/tilt support 32 that transitions from connection to the plurality oflongerons 60 provided by the beam module 16 to a unified connectionadjacent to the pan/tilt assembly 34. Additionally, it is preferred thatthe pan/tilt support 32 is arranged to present the pan/tilt assembly 34and the camera mounted thereon (not shown, see FIG. 1.) substantiallyalong the neutral axis of the beam 16 throughout as much range of motionof the camera as possible. To this end, the illustrated embodiment of apan/tilt support 32 for the front end assembly 18 includes a tripod-likearrangement including a pan drive platform 108 and two pan/tilt supportlegs 110. The pan/tilt support legs 110 extend from an interface withtwo respective longerons 60 and join the pan drive support 108 adjacentthe pan/tilt bearing head 66. The pan/tilt support legs 110 arepreferably constructed of ⅛-inch low-density 3-ply wood core with theprimary wood grain direction being substantially parallel to the length.Each leg 110 can be tapered and provided with a series of mass reducingcut-aways. Each pan/tilt support leg 110 is preferably reinforced withfiberglass epoxy laminated skin using ½-ounce per square yard satinweave cloth on a 45° bias and low viscosity “Z-Poxy” laminating resin,available from Pacer Technologies. Other laminating materials may beused in the skins to increase strength and stiffness. The legs 110 andtheir arrangement in the pan/tilt support 32 provide relatively strongand stiff support relative to weight, yet provide flexibility to absorbenergy through out of plane bending and torsion before incurringsignificant damage.

The pan drive platform 108 is preferably arranged to extend from theremaining longeron 60 of the distal beam module to a junction with thepan/tilt support legs 110 and the bearing head 66. The pan driveplatform 108 provides a substantially planar surface to which can bemounted various components of the pan drive, as will be discussed morefully below. The pan drive platform 108 is preferably constructed of alow-density 3-plywood core and reinforced by lateral support struts 112.The lateral support struts 112 are preferably parallel to the planes ofthe sides of the triangular distal beam module 16, each beingsubstantially 60° out of plane with the pan drive platform 108. Thelateral struts 112 in the platform 108 can be approximately ⅛-inch inthickness, which provides good stability and avoids the undesirableflexibility associated with thinner plates. Reinforcing lamination mayalso be utilized.

In order to position the pan/tilt assembly 34 and the camera mountedthereon in the area of the neutral axis while providing for rotation,pan and tilt movement, it is desirable for the pan/tilt assembly 34 todepend from the support 32. Accordingly, the pan/tilt support 34 of theillustrated embodiment preferably includes the pan bearing head 66 whichjoins the pan drive platform 108 and support legs 110 and provides anaxis of rotation oriented substantially vertically in the arrangement ofthe boom illustrated in FIG. 5. The pan bearing head 66 preferably isconstructed with a wood core composite shell with mounting flanges 114to join with the support legs 110 and pan drive platform 108. The panbearing head 66 is provided with an axial opening preferably of ¾-inchdiameter for press fit engagement of a ¾ outer diameter bearing.Vertical grain balsa core, with 3/32 5-ply top and bottom wood facesheets that are epoxy bonded to the balsa core, is preferred. Theresulting structure is shaped and machined, then conformally laminatedwith 1.4-ounce per square yard plain weave carbon fiber cloth and“Z-Poxy” laminating resin. The resulting structure provides a mass ofapproximately 10 grams yet bears essentially all the support forces ofthe pan/tilt assembly and remains substantially rigid. It provides apivotal structure to transmit loads from the pan/tilt assembly 34 to thepan drive platform 108 and the pan/tilt support legs 110.

The pan bearing head support flanges 114 can be formed as a single unitwith the pan bearing head 66 or can be separately fabricated andconnected to the pan bearing head 66. The pan bearing head supportflanges 114 are preferably constructed from 3/32-inch 5-ply woodpartially laminated with an overlapping 1.4 ounce per square yard carbonfiber composite conformal lamination from the bearing head end and with“Z-Poxy” laminating resin. The pan bearing head support flanges 114 canalso be provided with mass reducing circular cutaways. The pan drive forrotating the pan/tilt assembly 34 relative to the pan bearing head 66 ismounted to and supported by the pan/tilt support assembly 32 and inparticular on the pan drive platform 108. The pan drive includes a pandrive motor assembly 116. Preferably, the pan drive motor assembly 116includes a Faulhaber/MicroMo 1524 brush commutation coreless motor witha 152-to-1 gear box and an IE-512 quad encoder. Alternative motorassemblies can be utilized but high encoder count per output shaftrevolution, high degree of programmability, compact size and low massare preferred specifications, resulting in smooth motion control forpanning the pan/tilt assembly without sacrificing positionermaneuverability.

The motor assembly 116 can be positioned on the platform 108 to provideits drive shaft substantially vertically. A pan drive sprocket 118 canbe provided for transfer of the drive motor motion to the pan/tiltassembly through a pan drive chain 120 and a pan drive gear disk 122.

The pan drive sprocket 118 is preferably a Delran molded 6-spoke gearhaving a ¼-inch inner-diameter, 32 teeth and a 1.24-inch pitch diameter.The pan drive chain 120 is preferably a “Serve-O-L Link” chain C1227made of Dupont Delran 500 acetyl resin. The chain 120 preferably has anapproximately ⅛-inch pitch and can be approximately 92 links long forthe illustrated embodiment. Alternative chain designs are possible, butimportant characteristics that have been identified include a low massof plastic to avoid contributing to the inertia of the camera pointingmotion and relatively weakly attached snap-together chain links that canserve as an over-torque protection for the relatively expensive driveassembly. Snapped together fastening of the links allows for damage-freedisconnect in the event of external object strike, for example.

The pan axle gear disk 122 can be constructed in a number of ways butpreferably is provided with a plastic gear ring on a central wood disk.The pan axle gear disk 122 preferably has a 32 teeth Delran gear ringsurrounding a ⅛-inch thick 3-ply low-density ply wood core disk thatfriction fits onto the pan axle tube. Other polymers or compositemolded, cast or cut or otherwise manufactured parts may also beutilized. The wood disk arrangement serves as a fail-safe clutch in caseof drive over-torque conditions due to foreign object strikes, forexample. The low mass of the plastic and wood gear disk 122 does notcontribute significantly to the inertia of the pan/tilt motion and theplywood plate core can be laser cut or otherwise fabricated to very goodtolerance and repeatability. The pan drive assembly preferably alsoincludes a mounting and tensioning plate (not shown) along the top ofthe pan drive platform 108. The plate can be constructed as a compositewith a plywood core and carbon fibers/fiberglass/epoxy skins. In oneembodiment, a 1/32-inch thick 3-ply wood core is utilized with carbonfiber cloth of 1.4 ounce per square yard plain weave on a 45° bias, witha second skin of unidirectional, 3.5 ounce per square yard carbon fiberthat is 0.006-inches thick and arranged with the fiber grains parallelto the major grain axis of the ply wood core. A third skin of thefiberglass cloth utilizing ½ ounce per square yard satin weave on a 45°bias can also be utilized. The matrix material can be a “Z-Poxy”laminating resin.

The pan drive mounting and tensioning plate can be adjustably mounted tothe pan drive platform 108 utilizing a screw and thumb nut assembly 124to slide the pan motor 116 relative to the pan axis for tensioning ofthe pan drive chain 120. Nylon screws are preferred for their low massand hand adjustability.

At the proximal end of each of the pan drive platform 108 and the twosupport legs 110, an angle bracket 126 can be provided as onepossibility for joining the pan/tilt support 32 to the distal beammodule 16. Each angle bracket 126 can have a generally trapezoidal shapewith angled side flanges for mounting to the support legs 110 and pandrive platform 108 using, for example, nylon bolts and nuts.Additionally, using preferably nylon bolts and wing nuts 128, a seriesof flat anchor plates can extend from the angle brackets 126 and providean additional aperture for mounting onto the ends of the longerons 60.Each of the longerons 60 can provide, for the purposes of fastening, athreaded end that can be capped by any of a number of fasteners,including, for example, tumbuckles with jam nuts 130. The support legs110 can be further braced laterally by a stiffening structure, such as alateral stiffener 132, which is preferably constructed of 3-ply wood,although various thicknesses of plates and materials can be used aswell. The triangular arrangement of the illustrated pan/tilt supportassembly 32 can be further stiffened at its junction with the distalbeam module 16 by thin carbon fiber wire 134 secured to the anglebrackets 126 by thin gusset plates in each corner having a hole to matchthe bolt hole footprint of the angled brackets 126 and titanium mountingplates. The carbon fiber wires 134 are preferably 0.035-inch diametercarbon fiber epoxy pull-truded wire bonded to 1/32-inch thick 3-ply woodcorner gussets using ½ ounce per square foot satin weave fiberglasscloth on a 45° bias and gap-filling, cyano-acrylate adhesive.Alternatively, various diameter rods, various thickness plates andvarious cross-sections of bulk low-density stiffening materials, such asbalsa wood, may be employed. This stiffening arrangement helps maintaindimensional stability of the beam cross-section, thereby reducingunwanted deflection of the camera.

Referring again to the pan bearing head 66, an axle assembly 136 can beprovided for permitting relative rotation of the pan/tilt assembly 34.Details of preferred components of the axle assembly 136 are discussedmore fully below.

The pan/tilt assembly 34 is preferably secured to the axle assembly 136of the pan bearing head 66 by a series of finger releasable nylon screwsand nuts 138. The pan/tilt assembly 34 generally provides achannel-shaped pan carriage 140 which supports the entire pan/tiltassembly 34 and rotates relative to the pan/tilt support assembly 32.Nested pivotally within the pan carriage 140 is a tilt or cameracarriage 142 which can rotate in the tilt plane relative to the pancarriage 140 under the actuation of a tilt motor drive assembly.

Referring to FIG. 6, an exploded view of an embodiment of a pan/tiltassembly 34 having features according to aspects of the invention isshown. The pan/tilt assembly 34 preferably depends from the pan bearinghead 66 so that the combined center of mass of all portions of thesystem distal to the distal end of the distal beam module is positionedon the neutral axis of the beam throughout as much of its range ofmotion as possible. The pan/tilt assembly 34 can mount to a pan/tilthanger plate 146 mounted on a pan axle tube 136 of the pan bearing head60. The pan/tilt hanger plate 146 is preferably arranged as an x-formwith four mounting wings, each having at least one fastener hole. Thehanger plate 146 can be constructed with a 1/32-inch thick 3-ply woodcore with 3-ply carbon fiber-fiberglass-epoxy composite laminations oneach face.

The first ply is a plain weave lightweight carbon fiber cloth on anangled bias with respect to the primary wood grain direction of theplywood core. The second ply is unidirectional carbon fiber tow orientedin parallel to the primary wood grain direction. The third ply ispreferably a satin weave fiberglass cloth of very lightweight, on a biaswith respect to the primary wood grain direction of the core. The skinlamination stack sequence is the same on both sides of the hanger plate146. The matrix material can be E-Z-Lam low viscosity, laminating resin,available, for example, through Aerospace Composite Products of SanLeandro, Calif., U.S.A. The carbon fiber cloth of the first ply can be1.4 ounce per square yard plain weave on a 45° bias. The second layercan utilize carbon fiber unidirectional cloth of 3.5 ounce per squareyards and 0.006-inches thickness aligned parallel to the major grainaxis of the plywood core. The fiberglass cloth can be ½ ounce per squareyard satin weave on a 45° bias. Different weights of plain weave carbonfiber and fiberglass will give varying degrees of strength, stiffnessand mass of the finished structure. Kevlar may also be added forincreased toughness but is more difficult to cut.

The pan axle tube 136 is preferably constructed as a thin wallfiberglass epoxy composite having a ½-inch outer diameter with a seriesof selectable placement holes for a spring clip (not shown) that allowsadjustment of the spacing of the hanger plate 146 relative to the panbearing head 66 parallel to the pan axis. The axle 136 can be mounted tothe pan bearing head 66 using pan axle bearings (not shown).

The pan carriage 140, as noted above, is preferably arranged as achannel form having a base 150 with two transverse flanges 152. The pancarriage 140 can mount to the pan/tilt hanger plate 146 preferably by aseries of finger releasable nylon screws and thumb nuts (not shown). Thebase 150 of the pan carriage 140 has slotted holes for lateralpositional adjustment of the pan/tilt assembly 34 with respect to thecentral or neutral axis of the beam for purposes of dynamic balancing,for example, to place the center of mass of the pan/tilt assembly 34substantially coincident with the pan axis, thus substantiallyminimizing unwanted dynamic reaction forces from being applied to thepan/tilt support 32 and therefore to the beam structure of thepositioner system as a result of pan motion. The pan carriage core ispreferably constructed of a low-density 3-ply wood base 150 and standarddensity 3-ply wood flanges 152 mounted at right angles to the base 150,using epoxy bonded, hard wood cover, doll-housing molding, ground smoothto interfaces of the base 150 and flanges 152. The major grain axis ofthe base 150 and flanges 152 are preferably aligned in the hoopdirection of the channel form. The radii of the inner and outer surfacesof the core channel form thickness are such that the thickness of thecore is greater at corners than the thickness of the base 150 or flangeplates 152. The plywood base 150 is preferably ⅛-inch thick along thebase and 1/16-inch thick on the flanges 152. The greater thickness ofthe channel form at the corners increases bending strength and stiffnessof the finished composite channel form structure and the use of plywoodcores permits laser cutting and other computer numeric controlledmanufacturing techniques to maintain tight tolerances and a high degreeof repeatability. The pan carriage 140 can be provided withstrengthening skin lamination similar to that described above withrespect to the pan/tilt hanger plate 146.

The pan carriage 140 can be equipped with hoop-shaped bumpers 150 toprotect the pan/tilt assembly 34 and the nested camera from impact withexterior objects. The bumpers 156 can be made of titanium wire and arepreferably heat shrink tubing covered at the ends that are mounted tothe pan carriage 140 with plastic brackets 158. The brackets 158 arepreferably mounted adjacent the base 150 of the pan carriage 140 so asto transmit impact forces to the roots of the flanges 152 and reduce theresulting bending moments and the possibility of damage to the flanges152 themselves or other critical and difficult to manufacture componentsnested within the pan carriage 140.

Depending from one flange 152 of the pan carriage 140 is an axle plate160, having an axle tube 162 arranged normal to the plate 160 toward theinterior of the pan carriage 140. This axle tube 162 has a supportgusset ring on the opposite side of the plate from the axle tube. Theaxle plate 160 is mounted using hand adjustable fasteners that passthrough slightly oversized holes in the plate, allowing for axialalignment of the axle plate and tube with the tilt bearing on theopposite flange of the pan carriage. The axle tube 162 passes through anoversized hole in the pan carriage flange 152 and supports the tiltdrive gear disk 164, which is friction fit on the axle tube 162 afterthe axle tube 162 and plate 160 are attached to the pan carriage flange152, as well as one of two tilt bearings which is also applied to theaxle tube 162 after the axle tube 162 and plate 160 are attached to thepan carriage flange 152. The axle tube 162 allows passage of connectorsand cabling for electrical components within the tilt assembly such asthe camera detector and the tilt drive unit, as well as for lensarticulation and lighting or microphone means, when used. On theopposite flange of the pan carriage 140 from the axle plate 160 is theother tilt bearing, press fit into a hole in that flange, which is alsoreinforced with a 3/32 inch thick 5-ply wood disk bonded to the flange.

Continuing with the components between the two flanges 152 of the pancarriage 140, the tilt bearing around the pan carriage-affixed axle tubeand plate is press-fit into its own plate 166 which also has a bondeddoubler ring composed of 3/32-inch thick 5-ply wood. This tilt bearingplate 166 is also attached to one flange of the tilt or camera carriage142, using hand adjustable fasteners that pass through slightlyoversized holes in the plate, allowing for adjustable axial alignment ofthe bearing plate with respect to the camera carriage 142. Specifically,the tilt bearing plate 166 is slidably adjustable in a directionparallel to the optical axis of the camera optics/detector assembly toallow the tilt axis to be made substantially coincident with the centerof mass of the components that move with tilt motion, such as the cameraoptics and detector, the tilt drive 144, and lens articulationcomponentry and lighting fixtures when used. Also mounted to the otherside of the same flange of the camera carriage is the tilt drivemounting plate 168, further described below.

On the opposite flange of the camera carriage 142 from the tilt bearingplate and the tilt drive components is fastened an axle tube and plate170, similar to that previously described with respect to the pancarriage 140. This axle tube 170 passes through the previously describedbearing that is fixed in the pan carriage flange 152. This axle tube andplate assembly 170 also attaches to the camera carriage 142 by handadjustable fasteners that pass through slightly oversized holes in theaxle tube and plate 170, allowing for adjustable axial alignment of thebearing plate with respect to the camera carriage 142. The adjustablypositionable nature of this attachment means serves in conjunction withthe similar feature on the other bearing of the camera carriage 142 toallow for dynamic balancing of the tilt components about the tilt axis,helping to substantially minimize unwanted dynamic reaction forces frombeing applied to more proximal structure of the positioner system as aresult of tilt motion. Such dynamic balancing substantially minimizespan/tilt motion-induced perturbation of the camera positioner structure,allowing less structure and therefore less mass within the positioner, afeature critical to the maneuverability and therefore also to theutility of the positioner.

To contribute to the compact sizing of the pan-tilt assembly 34, thetilt drive assembly 144 is preferably mounted to the tilt carriage 142and drives rotation of the tilt carriage 142 relative to the pancarriage 140 by a sprocket gear chain assembly 172 that revolves withthe tilt carriage 142 itself. The camera/tilt carriage 142 isconstructed as a channel form but includes an aperture for the lens ofthe camera (not shown). The camera/tilt carriage 142 is preferablyformed with a wood core and lamination arrangement similar to thatdescribed above with respect to the pan carriage 140, but using arelatively thinner 1/16-inch thick 3-ply wood base and 1/32-inch thick3-ply wood flanges.

The tilt drive motor assembly 144 can utilize a DC motor with an encoderand gear box. Preferably, a Faulhaber/MicroMo Model 1516A with a 152:1gear ratio and an IE512 Encoder provides the drive power. Preferredperformance characteristics are the same as those described above withrespect to the pan drive motor assembly, although the torque requirementfor motion about the tilt axis is typically less than that for pan sincethe tilt motion componentry is of physically smaller dimension and ismore compactly arranged about its axis of motion. The tilt drive motorassembly 144 is preferably secured to a mounting plate 168 that is, inturn, adjustably mounted on the interior of a flange of the tiltcarriage 142. The tilt drive motor assembly mounting plate 168 can beformed by a 45 mm thin plate with a drive shaft opening and an arcuateslot for a chain tensioning adjusting screw. End grain balsa core orcarbon fiber composite with a fiberglass lamination layer can also beused for the tilt drive mounting plate 168. The adjusting screws arepreferably hand adjustable and can be selected as nylon screws withthumb nuts. The output of the motor rotates a tilt drive sprocket whichis constructed similarly to the pan drive sprocket discussed above (SeeFIG. 5) but having 24 teeth. Both sprockets can optionally be equippedwith a hub collar and hub sleeve adjusted with two set screws (notshown). This interior arrangement for the sprocket can provide a slipclutch function as a protection against over-torque.

The rotating sprocket is connected to the tilt drive gear disk by a tiltdrive chain. The tilt drive chain can be similarly constructed as thedrive chain utilized for the pan drive as discussed above in referenceto FIG. 3. Similarly, the tilt drive gear disk can be constructedsimilar to the pan drive gear disk but having 24 teeth. The interiorwood disk can be press fit into the plastic gear teeth ring to provideanother fail-safe clutch in case of drive over-torque conditions.

Referring to FIGS. 7A and 7B, the proximal end of the handle module 14preferably includes a handle grip ring 52 that can be constructed as acircular ring suspended from the end of the handle tube 46. Alternativegeometries for the ring are possible, but a circular arrangement ispreferred for ease in handling by the operator in rotating the boom andholding the ring about its entire periphery without engaging a corner orother non-curved surface that may otherwise be experienced with apolygonal shape.

The grip ring 52 is preferably suspended from the end of the handle tube46 through a series of ribs 56 that form a control cage 54 forsurrounding and protecting a camera control unit such as the joystickunit 58. Any of a number of ribs can be provided, but as illustrated,four equally spaced ribs 56 can provide a protective cage for thejoystick 58 while providing lateral openings for gripping of the ribs 56as well as for alternative access to the joystick 58 in addition to thecentral opening in the ring 52 for accessing the joystick 58. Thejoystick 58 can be mounted inside a control enclosure housing 174constructed of diagonally alternating biased sheer web made up of upperand lower rings of ¼-inch nominal width 1/16-inch thick 3-ply wood andfour quadrants between the cage ribs of 1/64-inch thickness 3-ply woodcut with alternating 45° grain lines. The quadrants can be laid upagainst the rings and abutted to the ribs, tacked into position withcyano-acrylate adhesive and anchored thoroughly with epoxy. The joystickcontrol can include control electronics in a base housing (not shown)that is enclosed within the control support housing 174 and removablysecured by a control mounting plate 176 that covers the rear opening ofthe control support housing 174. The control mounting plate 176 canprovide four slots through which the cage ribs 56 extend in preferablyfriction fit relation.

The juxtaposition of the joystick 58 relative to the handle ring 52provides an ergonomic relationship enabling the user to easily controlboom movement both axially and rotationally while simultaneouslymanipulating the joystick 58 for control of camera motion or othercamera controls. The joystick 58 can be configured electronically tocontrol pan and tilt or alternatively to control other aspects of thecamera such as iris and focus control. The joystick 58 can be equippedwith a push button actuator 178 at its end for such functions aspause/record control of the video recorder discussed more fully below.

Referring particularly to FIG. 7B, the handle tube 46 can be secured tothe proximal handle assembly through a series of retaining rings,including a forward retaining ring 180 and a rear retaining ring 182.Each retaining ring 180, 182 can have mass reducing cutaways that canalso provide additional grip services for the operator. Each retainingring 180, 182 provides a central opening through which the handle 46passes to terminate adjacent the control enclosure housing 174. Each ofthe proximal handle assembly components are made of a single sheet oflow-density ¼-inch thick 5-ply wood with the exception of the end gripring which is preferably made of two sheets of low-density ¼-inch 5-plywood resulting in an end ring thickness of preferably ½-inch.

Referring to FIG. 8, a general schematic of the cabling arrangement andthe inter-connection of various auxiliary systems for supporting thecamera boom and its camera and controls is shown.

The auxiliary support systems for the boom and camera include a videorecording system such as a VCR 38 for receiving and storing video signalinformation from the camera 26 onto recordable media, such as tape, DVDor the like. The VCR 38 is preferably capable of recording the videosignals in mini-DV format, such as the Sony GV-D900. Any number of othervideo recording systems are capable of use as long as they support theoutput format of the camera selected. The auxiliary systems can alsoinclude a motion control subsystem 40 for controlling the motor driveassemblies for pan and tilt. Preferably, the motion control system 40includes a digital programmable motor controller such as theMicroMo-Faulhaber MCDC 2805 with a joystick interface circuit. Thiscontroller packaging can be housed with other control electronics forthe joystick and can be enhanced with various customizable switches,indicator lamps and connectors to further integrate the auxiliarysystems. The auxiliary systems also preferably include a camera controlunit 42 such as the Toshiba IK-TU 40A CCU, which provides front panelcontrols and detector connectors, rear panel connectors and can providebroadcast quality control of camera image signals and engineeringparameters.

Monitoring of the camera images is preferably provided by a monitormounted to the operator to maintain the self-contained nature of thecamera positioning and control system. While smaller monitors can beequipped on the operator's body, monitor goggles 44 such as the SonyPLM-A35 are preferred in that they provide the camera imaging directlyin the operator's field of view at all times. While some of thecomponents such as the goggles 44 and the VCR 38 are preferably suppliedwith their own dedicated battery, other components can be supplied by abattery pack subsystem 36. Because some of the components require24-volts while others specify 12-volts, a 24-volt battery bank withappropriate safety fuses can be wired to provide a 12-volt terminal forappropriate routing to the auxiliary systems.

The various auxiliary systems are preferably mounted to the operatorusing a support system garment such as the vest 20. The vest 20 can beequipped with multiple pockets each sized to securely house therespective components. The battery packs 36 are preferably positioned ina pocket on the rear of the vest 20 and the cabling, interconnecting thevarious components to each other and, through umbilical cables, to theboom 12, can be routed through the vest 20. Optionally, the vest 20 canbe equipped with various openings on the interiors of the pockets andpreferably routing sleeves to contain the cabling along the interior ofthe vest 20 to avoid entanglement and damage to the cabling andpotential harm to the operator.

The various auxiliary subsystems and the associated components on thecamera boom 12 can be interconnected by various cabling. The proximaljoystick control 58 is preferably connected to the auxiliary subsystemsthrough a 9-conductor bundle terminated with a set of three Fatuba-Jmale and RS232 9-conductor IDC Canon D connectors. The cabling from theproximal joystick 58 extends along the interior of the hollow handletube and connects to the umbilical cables at a break out junction alongthe proximal beam module. This joystick control cabling can also providean additional break out for optional connection to a distal joystickcontroller discussed more fully below. At the beam junction, the motioncontrol cables can connect to the auxiliary systems on the vest throughan umbilical cable preferably configured as an RS232 9-conductorextension which extends to the motion control box 40.

The motion control drive cabling from the motion control box 40 to thepan and tilt drives is preferably constructed as a 15-conductor ribboncable terminated with an RS232 15-conductor IDC technology Canon-D typeconnector. A tilt drive motor extension cable can extend from thejunction between the motion control drive cable and the tilt drive motorassembly. The tilt drive control cable extension can also be formed as aribbon cable having six conductors terminated with twin Fatuba-Jconnectors.

The camera detector cabling for routing the camera controls and videosignals from the camera unit 26 to the camera control unit 42 ispreferably provided by a Hirosi threaded coupling, round connectorproviding twenty pins and providing a continuous cabling along thelength of the boom and continuing as a camera umbilical to the cameracontrol unit 42 on the operator vest 20. The battery pack cabling ispreferably arranged to provide ground and plus-24-volt taps as well as acenter tap for plus-12-volts. Airtronics connectors joined for 12 and24-volt break outs with voltage taps separately keyed by either thesecond or third pin of the three pin connectors is preferred to providea fail-safe against improper power connections to the auxiliarycomponents. To avoid danger and potential serious injury to the user,the batteries 36 are preferably fused in the event that a misrouting ofthe power causes battery overload or some other condition endangeringthe operator.

A 24-volt motion control box power extension cable can be provided andis preferably constructed as a 22-gauge conductor with a mating keyedpower connector at the motion control back panel, having shield toground and an Airtronics connector at the battery end. Other cablingarrangements are possible but must preferably be able to handle 4 ampscontinuous.

A 12-volt camera control unit power extension can also be provided andconstructed with an Airtronics connector on the battery end and a Hirosi4-pin power connector on the camera control unit end. Alternativecabling is possible.

The video signal routed to the camera control unit is then transmittedto the VCR 38, preferably using S-video cabling. The video signal feedis also provided to the monitor goggles 44 and is preferably routedthrough RCA video cabling with an appropriate adaptor.

The goggles 44 are preferably equipped with a tally lamp to monitor thepause/record status of the VCR 38. If the goggles 44 are equippedpreferably with a two color LED, indicating various VCR status, then a3-conductor AWG #26 jacketed cabling terminated at the goggles end witha two color LED red and green connected by a Fatuba-J connector from theback panel of the motion control box is preferred.

VCR record and pause can be controlled, for example, through thejoystick 58 by way of the motion control box. The motion control panelcan provide a control signal to the VCR 38 through LANC cablingaccording to established LANC protocol. Referring to FIG. 9, the handlemodule 14 can optionally be equipped with a distal or front joystickcontrol 184 in addition to, or instead of, the proximal joystick control58 (SEE FIG. 7A). The camera motion or camera operation can then bedivided up between the forward and the rear joystick controls 184, 58.For example, one joystick can control tilt while the other controls pan.Alternatively, one can be dedicated to both pan and tilt control whilethe other is dedicated to focus and aperture controls. The joystick 186can be selected for any of a number of available joystick controls butcan preferably include a subminiature two axis-3 channel (2 proportionaland 1 switch) joystick system available through CH Products. The distaljoystick assembly 184 can include a pair of joystick mounting brackets188 depending, for example, from the base plate assembly 190 describedlater in this specification, each comprised of a series of wood platesincluding a ⅛-inch thick standard density 5-ply, a ¼-inch thicklow-density 5-ply, and slotted ⅛-inch thick standard density 5-ply platewhich are epoxy bonded at right angles, with the outboardmost plate ofthe brackets in a horizontal plane with respect to the beam, normal tothe pan axis and having ¼-inch wide slots 192 parallel to thelongitudinal axis of the beam to allow longitudinal positionaladjustment of subsequent structure depending from the horizontal platesby means of ¼-inch nylon thumb screws and thumb nuts 194. A second pairof laterally adjustable plywood plates 196, preferably constructed of⅛-inch standard density 5-ply in the horizontal plane, each having atriplet of parallel ¼-inch slots 198 configured in the lateral directionwith respect to the length axis of the beam, depend from the abovemounting brackets and allow for lateral and rotational adjustment withinthe horizontal plane. The second pair of plates 196 have a joystickmounting fixture 200 located between them. The fixture 200 is alsopreferably constructed of ⅛-inch standard density 5-ply wood and dependsfrom the laterally adjustable plates 196 by means of ¼-inch nylon thumbscrews and thumb nuts 202 through vertically oriented plates 204, also⅛-inch standard density 5-ply, preferably located at each end of thejoystick mounting fixture 200 to allow tilting adjustment of thejoystick mounting fixture 200.

The base plate assembly 190 can include a pair of plates. The proximalbase plate 206 as illustrated is preferably constructed of one layer of¼-inch standard density 5-ply wood with three thin walled stainlesssteel inserts, each having an inner diameter for size #8 clamping boltsevenly circumferentially spaced around a close tolerance friction fit⅞-inch diameter central aperture for the handle tube and reinforced byplain weave E-glass fiberglass skin lamination on a 45° bias to thevertical center line of the piece on both faces with a matrix of“Z-Poxy” laminating resin and hardener having a 1-to-1 room temperaturecure, available from Pacer Technologies. The forward, larger base plate208 is preferably made of ⅛-inch thick standard density 5-ply wood withthree thin walled steel inserts in a hole pattern matching those of thesmaller base plate, three thick walled aluminum inserts having oversizedclearance inner diameters for the beam module threaded rods and a holepattern to match that of the beam module terminal inserts. The forwardbase plate 208 also includes a close tolerance, friction fit, ⅞-inchdiameter hole for the handle tube and six large, evenly spaced, massreduction, three clearance holes for ¼ inch diameter fasteners evenlyspaced around the perimeter (preferably 16 millimeters on center fromthe edge of the plate) for mounting control componentry such as theforward joystick assembly, and plain weave E-glass fiberglass skinlamination on a 45° bias to the vertical center line of the piece onboth faces, with a matrix of “Z-Poxy” laminating resin.

Although specific details for the construction and operation of variouscomponents having features according to aspects of the invention havebeen set forth in the above specification, such disclosure is intendedonly to enable one skilled in the art to make and use the variouscomponents and assemblies relating to the subject matter of theinvention and to disclose various preferences that the inventor had atthe time of filing an application for patent. This disclosure is notintended to limit the scope of the invention, and various alternativesfor the components and assemblies are likely to be readily apparent inview of this disclosure. Accordingly, the scope of the invention shouldnot be determined from the above detailed description but rather from areading of the following claims and the various definitions of thesubject matter of the invention that they set forth.

1. A remote camera positioning system for use and support by a soleoperator, comprising: a camera; a camera positioner having a distalcamera mount for supporting said camera, said camera positioner having aproximal operator interface to enable an operator to support said camerapositioner and spatially maneuver said camera through said camerapositioner; and said positioner including at least one elongated beammodule, said beam module being positioned distally of the operatorinterface and proximally of the camera mount; wherein said distal cameramount is a front end module for moveably mounting the camera to thedistal beam module, said front end module including a pan/tilt assemblyand a pan/tilt support assembly, said pan/tilt support assemblyconnecting to the distal beam module and supporting the pan/tiltassembly, said pan/tilt assembly supporting said camera and permittingthe optical axis of the camera to pan and tilt relative to thelongitudinal axis of the distal beam module, wherein the pan/tiltsupport assembly includes: a pan drive platform connected to andextending substantially longitudinally from a distal-most end of thebeam module; a pan bearing head connected to the distal end of said pandrive platform, said pan tilt assembly rotatably depending from said panbearing head transverse to the longitudinal axis of the beam module; andone or more support legs connected to and extending from the beam moduleand connecting to the pan drive platform substantially adjacent to thepan bearing head, whereby the pan/tilt support assembly tapers from thebeam module to a supporting junction with the pan/tilt assembly tominimize obstruction of the camera field of view.
 2. The systemaccording to claim 1, further comprising pan bearing head supportflanges for connecting the pan bearing head to the pan drive platform.3. The system according to claim 1, further comprising lateral supportstruts depending from and extending along the length direction of thepan drive platform.
 4. The system according to claim 1, wherein the beammodule includes longerons spaced from a neutral axis of the beam moduleand further comprising angle brackets for adjustably connecting by atleast one of hand and tool the pan drive platform and the support legsto respective longerons of the beam module.
 5. The system according toclaim 1, wherein at least two of the pan drive platform and the supportlegs are joined to each other adjacent their proximal ends by at leastone lateral stiffener.
 6. The system according to claim 1, furthercomprising a pan drive assembly including a pan drive motor mounted onthe pan drive platform, a pan drive sprocket rotated by the pan drivemotor, a pan drive chain driven by the pan drive sprocket, a pan axlegear disc driven by the pan drive chain, a pan axle rotatably mounted onand vertically adjustable by at least one of hand and tool with respectto the pan bearing head and rotated by the pan axle gear disc, wherebythe center of mass of moving components of the front end module can bevertically adjusted to substantially coincide with the neutral axis ofthe positioner; and a pan-tilt hanger plate attached to the pan axle formounting the pan/tilt assembly.
 7. The system according to claim 6,further comprising a pan drive mounting and tensioning plate moveablymounted on the pan drive platform to adjust by at least one of hand andtool the tension in the pan drive chain.
 8. The system according toclaim 1, wherein the pan tilt assembly includes: a pan carriagerotatably attached to and laterally adjustable by at least one of handand tool with respect to the pan bearing head, whereby the center ofmass of the moving components of the front end module can be laterallyadjusted to substantially coincide with the neutral axis of thepositioner; a tilt carriage supported by the pan carriage; and a tiltdrive assembly including: tilt drive motor fixed to the tilt carriage; atilt drive sprocket disposed on an output shaft of the tilt drive motor;a tilt drive gear disc fixed to the pan carriage, and a tilt drive chainconnected between the tilt drive sprocket and the tilt drive gear discfor rotating the tilt carriage in response to actuation of the tiltdrive motor.
 9. The system according to claim 8, further comprising atilt drive motor mounting plate for supporting the tilt drive motor andtilt drive sprocket, said tilt drive motor mounting plate adjustablyconnected by at least one of hand and tool to the tilt carriage foradjusting the tension of the tilt drive chain.
 10. The system accordingto claim 9, wherein the pan carriage is shaped as a channel with a baseand two transversely extending flanges, said base being connected to thepan tilt hanger plate and said tilt carriage being rotatably mountedbetween the two flanges.
 11. The system according to claim 10, whereinthe tilt carriage is shaped as a channel with a base and twotransversely extending flanges, said camera being mounted to said baseand said two flanges being rotatably mounted between and slidablyadjustable by at least one of hand and tool with respect to the flangesof the pan carriage, whereby the center of mass of the moving componentsof the front end module can be slidably adjusted to substantiallycoincide with the neutral axis of the positioner.
 12. The systemaccording to claim 11, wherein the base and flanges of each of the pancarriage and tilt carriage is constructed of a low density 3-ply woodcore with a span wise primary grain orientation, laminated with a firstlayer of plain weave carbon fiber cloth on a bias with respect to theprimary grain direction of the wood core, a second layer ofunidirectional carbon fiber tow oriented span wise and a third layer offiberglass; and wherein the wood core of the flanges is thinner than thewood core of the base.
 13. A remote camera positioning system for useand support by a sole operator, comprising: a camera; a camerapositioner having a distal camera mount for supporting said camera, saidcamera positioner having a proximal operator interface to enable anoperator to support said camera positioner and spatially maneuver saidcamera through said camera positioner; and said positioner including atleast one elongated beam module, said beam module being positioneddistally of the operator interface and proximally of the camera mount;wherein said distal camera mount is a front end module for moveablymounting the camera to the distal beam module, said front end moduleincluding a pan/tilt assembly and a pan/tilt support assembly, saidpan/tilt support assembly connecting to the distal beam module andsupporting the pan/tilt assembly, said pan/tilt assembly supporting saidcamera and permitting the optical axis of the camera to pan and tiltrelative to the longitudinal axis of the distal beam module; wherein thepan/tilt assembly includes a pan axle rotatably mounted on andvertically adjustable by at least one of hand and tool with respect tothe pan/tilt support assembly, whereby the center of mass of movingcomponents of the front end module can be vertically adjusted tosubstantially coincide with the neutral axis of the positioner; whereinthe pan tilt assembly includes a pan carriage rotatably attached to andlaterally adjustable by at least one of hand and tool with respect tothe pan/tilt support assembly, whereby the center of mass of the movingcomponents of the front end module can be laterally adjusted tosubstantially coincide with the neutral axis of the positioner; and atilt carriage supported by the pan carriage wherein the tilt carriage isshaped as a channel with a base and two transversely extending flanges,said camera being mounted to said base and at least one of said twoflanges and said camera being slidably adjustable by at least one ofhand and tool with respect to the pan carriage, whereby the center ofmass of the moving components of the front end module can be slidablyadjusted to substantially coincide with the neutral axis of thepositioner.
 14. A remote camera positioning system for use and supportby a sole operator, comprising: a camera; a camera positioner having adistal camera mount for supporting said camera, said camera positionerhaving a proximal operator interface to enable an operator to supportsaid camera positioner and spatially maneuver said camera through saidcamera positioner; and said positioner including at least one elongatedbeam module, said beam module being positioned distally of the operatorinterface and proximally of the camera mount; wherein said distal cameramount is a front end module for moveably mounting the camera to thedistal beam module, said front end module including a pan/tilt assemblyand a pan/tilt support assembly, said pan/tilt support assemblyconnecting to the distal beam module and supporting the pan/tiltassembly, said pan/tilt assembly supporting said camera and permittingthe optical axis of the camera to pan and tilt relative to thelongitudinal axis of the distal beam module; and further comprising atleast one of a tilt axle tube for rotatably connecting the camera mountto the positioner to permit tilt motion of the camera and a pan axletube for rotatably connecting the camera mount to the positioner topermit pan motion of the camera, cabling extending from the camera tothe operator interface, said cabling being routed through at least oneof the tilt axle tube and the pan axle tube and including at least onecable from the group of camera power cabling, camera control cabling andimage signal cabling, whereby said cabling is routed to minimizeinterference with the camera's range of motion and field of view.